The present invention relates to a device and a method for compensating a steering angle signal and a motor angle signal in an MDPS system, capable of synchronizing a motor angle signal and a steering angle signal. The device for compensating a steering angle signal and a motor angle signal includes: a motor torque compensating unit applying a current compensating value to a current controlling a motor driving the MDPS system and compensating compression stress by a device between a steering angle sensor and a motor angle sensor of the MDPS system; an angular speed compensating unit compensating difference between a steering angle and a motor angle by an angular speed of the motor based on the angular speed; a sensor property compensating unit compensating a nonlinear property in accordance with a steering position of the steering angle sensor based on the steering position and a steering direction; and a hysteresis property compensating unit compensating the hysteresis property of the MDPS system by applying a hysteresis compensating value to the steering angle signal in case a steering state of a vehicle is changed from a stop state to a steering state or in case the steering direction is changed.;COPYRIGHT KIPO 2017
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